cmake_minimum_required(VERSION 3.8)
project(rviz_planner)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(nav2_util REQUIRED)
find_package(nav2_costmap_2d REQUIRED)
# 自定义功能包
find_package(nav_msg_pkg REQUIRED)
find_package(rviz_util_pkg REQUIRED)
find_package(agv_util REQUIRED)
# 包含头文件目录
include_directories(include)
set(dependencies
  rclcpp
  geometry_msgs
  nav_msgs
  nav2_util
  nav2_costmap_2d
  nav_msg_pkg
  rviz_util_pkg
  agv_util
)

# 编译节点
add_executable(rviz_planner
  src/main.cpp
  src/costmap.cpp
  src/fixed.cpp
  src/planner.cpp)

ament_target_dependencies(rviz_planner 
  ${dependencies}
)

# 安装规则
install(TARGETS 
  rviz_planner
  DESTINATION lib/${PROJECT_NAME}
)

install(
  DIRECTORY
  launch
  rviz
  DESTINATION
  share/${PROJECT_NAME}
)
# 安装头文件到指定目录
install(DIRECTORY include/
  DESTINATION include/
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
